CN218538025U - Handling device, cargo handling system and sorting system - Google Patents

Abstract

The application relates to a loading and unloading device, a cargo loading and unloading system and a sorting system. The cargo handling system comprises: the turnover goods shelf is provided with a plurality of storage positions, and the storage positions are used for storing the storage boxes; the conveying device is used for conveying the turnover goods shelf; the loading and unloading device is arranged at the warehouse transfer node; the turnover goods shelf comprises X layers of storage layers, and the single-layer storage layers are provided with storage positions distributed in M rows and N rows; the loading and unloading device comprises a Y-layer support, the single-layer support is provided with P rows of loading and unloading positions distributed in Q rows, and the single-layer support is provided with a telescopic arm for taking goods from the turnover shelf; y, P and Q are natural numbers, and at least two of the natural numbers are more than 1; the conveying device conveys the turnover goods shelves to the warehouse circulation node, and the loading and unloading device simultaneously takes the storage boxes in at least two corresponding storage positions of the turnover goods shelves through at least two groups of telescopic arms back to the corresponding loading and unloading positions. The scheme that this application provided transports the storage tank in batches through turnover goods shelves, and loading and unloading device once takes out a plurality of storage tanks, has improved the uninstallation efficiency of goods.

Description

Handling device, cargo handling system and sorting system

Technical Field

The application relates to the technical field of intelligent warehousing, in particular to a loading and unloading device, a cargo loading and unloading system and a sorting system.

Background

With the development of artificial intelligence and logistics automation, the intelligent warehousing technology as an important part thereof is more and more mature. In the warehousing process, the goods are subjected to warehousing, sorting, ex-warehouse and other operations so as to realize intelligent warehousing.

In the storage box loading and unloading link of the warehouse, generally, the storage boxes are taken out from the storage shelf one by a robot and are transported to a picking position, and the transportation efficiency is low. If adopt the manual work to carry out the transport of a plurality of storage tanks at every turn, then can produce higher human cost to there is the potential safety hazard.

SUMMERY OF THE UTILITY MODEL

For solving or partly solve the problem that exists among the correlation technique, this application provides a handling device, goods handling system and letter sorting system, can realize single batch loading and unloading goods, improves storage uninstallation efficiency.

The present application provides in a first aspect a cargo handling system comprising:

the turnover shelf is provided with a plurality of storage positions, and the storage positions are used for storing the storage boxes;

a transport device for transporting the turnaround racks;

the loading and unloading device is arranged at the warehouse transfer node; wherein:

the turnover shelf comprises X layers of storage layers, wherein the single storage layer is provided with storage positions distributed in M rows and N columns, X, M and N are natural numbers, and at least two of the X, M and N are greater than 1;

the loading and unloading device comprises Y layers of supports, a single layer of the supports is provided with P rows of loading and unloading positions distributed in Q rows, and the single layer of the supports is provided with telescopic arms used for taking goods from the turnover racks; wherein the direction of the rows is parallel to the pick-up direction of the telescopic arms and the direction of the columns is perpendicular to the direction of the rows and the layers; y, P and Q are natural numbers, and at least two of the natural numbers are greater than 1; the conveying device conveys the turnover goods shelf to the warehouse turnover node, and the loading and unloading device simultaneously takes the storage boxes in at least two corresponding storage positions of the turnover goods shelf back to the corresponding loading and unloading positions through at least two groups of telescopic arms.

In some embodiments, the number of sets of telescopic arms of a single layer of the rack is no less than the number N of columns of the epicyclic racks; x and N are greater than 1, Y and Q are greater than 1; alternatively, X, M and N are each greater than 1, Y and Q are each greater than 1, and P is greater than or equal to 1.

In some embodiments, the bottom of the turnover shelf is provided with an accommodating space, and the overall height of the conveying device does not exceed the height of the accommodating space;

the conveying device comprises a self-walking base and a lifting device supported on the self-walking base, the self-walking base enables the conveying device to move to the accommodating space automatically, and the lifting device is used for lifting the turnover goods shelf.

In some embodiments, the number of rows M of the turnaround shelf is greater than 1, and the extension length of the telescopic arm is not less than the pickup length of the storage boxes in the furthest row of storage positions on the turnaround shelf.

In some embodiments, a single layer of the rack is provided with Q groups of telescopic arms which are synchronously telescopic, wherein each group of telescopic arms is used for obtaining a storage box corresponding to a storage position, and Q is more than 1; the group of telescopic arms comprises two mechanical arms which are oppositely arranged at intervals, wherein the interval distance between the two mechanical arms is matched with the size of the single storage box in the column direction; or, a group of telescopic arms comprises a mechanical arm, and the tail end of the mechanical arm is provided with a goods taking part used for acting on the storage box.

In some embodiments, the mechanical arm is a fork arm, and the tail end of the fork arm is provided with a rotatable picking finger which has a position parallel to or perpendicular to the fork arm; in the process that the fork arms extend out, the goods taking fingers are in parallel positions; after the fork arm stretches out to get the goods position, get the goods and indicate to rotate to vertical position, with the butt the storage tank deviates from handling device's rear end face.

In some embodiments, the transport device includes a rotation mechanism that causes the transport device to adjust the angle of presentation of the lifted turnaround racks relative to the handling device, including adjusting a row of storage locations of turnaround racks away from the handling device to a nearest row.

In some embodiments, the cargo handling system further comprises a storage rack and a pick-and-place device, the storage rack comprising a plurality of storage layers for storing the storage bins; wherein the taking and placing device is used for transferring the storage box to the turnover shelf.

In some embodiments, the bottom of the storage shelf is opened with a shelf storage space for accommodating the turnover shelf; the multilayer storage layer is arranged above the storage space of the shelf.

The second aspect of the present application provides a sorting system, which includes the above cargo handling system, wherein the warehouse transfer node is a sorting workstation for sorting the storage boxes.

A third aspect of the present application provides a handling device comprising:

a base;

the single-layer support is provided with Q groups of telescopic arms used for taking the storage boxes arranged along the row direction to the corresponding loading and unloading positions at the same time; wherein the direction of the rows is parallel to the pick-up direction of the telescopic arms and the direction of the columns is perpendicular to the direction of the rows and the layers; y, P and Q are natural numbers, and Q is more than 1.

In some embodiments, the maximum extended length of the telescopic arm is configured such that the telescopic arm can access a plurality of storage bins arranged in the row direction sequentially or simultaneously.

The technical scheme provided by the application can comprise the following beneficial effects:

in some embodiments, after a plurality of storage boxes are placed on the turnover shelf, the turnover shelf is conveyed to the warehouse transfer node by the conveying device at a time, so that batch transfer of the plurality of storage boxes is realized, and the conveying efficiency is greatly improved; in addition, the loading and unloading device located at the warehouse circulation node can unload the storage boxes in a plurality of storage positions to the designated position of the warehouse circulation node once through the telescopic arm, so that the unloading efficiency of goods is improved, manual conveying is not needed, the labor cost is saved, and the problem of personnel safety is effectively avoided.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.

FIG. 1 is a schematic block diagram of a cargo handling system according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of an epicyclic rack and a moving mechanism according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of another view angle of the revolving rack and the moving mechanism according to the embodiment of the present application;

FIG. 4 is a schematic structural diagram illustrating an unlifted state of a moving mechanism according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of a lifting configuration of the movement mechanism of FIG. 4;

FIG. 6 is a schematic view of the docking of the loading and unloading device with the turnaround shelf according to the embodiment of the present application;

fig. 7 is a schematic structural view of a storage rack, a transfer rack, and a moving mechanism according to an embodiment of the present invention.

Reference numerals are as follows:

a turnaround rack 10; a storage layer 110; the accommodation space 120; a storage location 111; a conveyance device 20; from the walking base 210; a lifting device 220; a handling device 30; a telescopic arm 310; a yoke 311; pick-up fingers 312; a support 320; a base 330; a storage box 40; a storage rack 50; shelf storage space 510; a reservoir layer 520.

Detailed Description

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be understood that the terms "length," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present application.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections as well as removable connections or combinations; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.

In the related art, in the storage box loading and unloading link of the warehouse, the storage boxes are generally taken out from the storage racks one by the device and are conveyed to a picking position, and the conveying efficiency is low. If adopt the manual work to carry out the transportation of a plurality of storage tanks at every turn, then can produce higher human cost to there is the potential safety hazard.

To the above problem, the embodiment of the application provides a cargo handling system, can realize single batch loading and unloading goods, improves storage uninstallation efficiency.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Referring to fig. 1 and 2, an embodiment of the present application illustrates a cargo handling system comprising turnaround racks 10, a conveyance device 20, and a handling device 30. The transfer rack 10 has a plurality of storage locations 111, and the storage locations 111 are used for storing the storage boxes 40; the conveying device 20 is used for conveying the turnover shelf 10; the handling device 30 is installed at a warehouse transfer node. The turnover shelf 10 comprises X layers of storage layers 110, the single-layer storage layer 110 is provided with storage positions 111 distributed according to M rows and N columns, X, M and N are natural numbers, and at least two of the natural numbers are larger than 1; the loading and unloading device 30 comprises a Y-layer bracket 320, wherein the single-layer bracket 320 is provided with P rows and Q rows of loading and unloading positions, and the single-layer bracket 320 is provided with a telescopic arm 310 for taking goods from the turnover shelf 10; wherein the row direction is parallel to the pick-up direction of the telescopic arm 310, and the column direction is perpendicular to the row and layer direction; y, P and Q are natural numbers, and at least two of the natural numbers are greater than 1; the transport device 20 transports the turnaround racks 10 to the warehouse transfer node, and the handling device 30 simultaneously retrieves the storage boxes 40 placed in at least two corresponding storage locations 111 of the turnaround racks 10 to the corresponding handling locations by at least two sets of telescopic arms 310.

Referring to fig. 1 to 3, in some embodiments, the turnover shelf 10 is used for temporarily storing the storage boxes 40, and the turnover shelf 10 may be a multi-layer rack structure including X storage layers 110, each storage layer 110 having at least one storage space 111, and each storage space 111 being used for storing one storage box 40; the storage locations of each storage level 110 may be arranged in a horizontal, vertical array. The row direction and the column direction are perpendicular to each other, and the row direction and the pick-up direction of the telescopic arm are parallel to each other. The transfer rack 10 can store a plurality of storage boxes 40, so that the transfer device 20 can transfer the plurality of storage boxes 40 by moving the transfer rack 10 once, thereby improving the transfer efficiency. The storage box 40 may be an empty box or a box body containing goods.

In some embodiments, the loading and unloading device comprises a base 330 and a Y-layer support supported on the base 330, the single-layer support has P rows and Q columns of loading and unloading positions, and the single-layer support is provided with Q groups of telescopic arms for taking Q storage boxes arranged along the column direction to the corresponding loading and unloading positions at the same time; wherein the row direction is parallel to the goods taking direction of the telescopic arm, and the column direction is vertical to the row and layer direction; y, P and Q are natural numbers, and Q is greater than 1. Y can be larger than or equal to X, the loading and unloading positions of each layer of support can be arranged in a horizontal, flat and vertical array, and the loading and unloading positions of each layer of support can correspond to the storage positions of each layer of storage layer, so that the storage boxes of the storage positions can be synchronously transferred to the corresponding loading and unloading positions of the corresponding layer; alternatively, the handling device may for example dock with the discharge rack or conveyor, the number of rows of handling positions of the support per layer of the handling device may be smaller than the number of rows of storage layers per layer of the turnaround rack, the handling device retrieving at least one row of storage boxes simultaneously at a time and transferring the row of storage boxes via the handling positions to the discharge rack or conveyor. In order to facilitate the telescopic arm to take out the storage box on the turnover shelf and then receive the storage box, each layer of loading and unloading positions and the corresponding layer of storage positions are on the same plane. In order to improve the goods taking efficiency, each layer of support is provided with a telescopic arm, and each row of storage positions is provided with a corresponding group of telescopic arms for taking goods. The goods taking direction of the telescopic arm is parallel to the row direction, namely the telescopic arm can extend and retract along the horizontal direction, so that at least one row of storage boxes in the same row can be taken out by the telescopic arm at each time.

In some embodiments, the maximum extension length of the telescoping arm is configured such that the telescoping arm can access multiple bins disposed along the row direction (i.e., multiple rows of bins) sequentially or simultaneously. Specifically, when goods are taken, the telescopic arms extend towards the corresponding storage boxes along the row direction, and after the telescopic arms reach the goods taking position and act on the storage boxes, the telescopic arms retract in the opposite direction so as to transfer the storage boxes from the storage positions to the corresponding loading and unloading positions.

In some embodiments, the telescopic arms 310 of each layer of the rack of the handling device 30 may be operated synchronously or in steps to sequentially or simultaneously access the rows of storage bins 40 of each layer of storage space 111 on the transfer rack 10 to the corresponding handling positions. Further, the telescopic arm 310 of each layer of the rack 320 of the handling device 30 may be moved step by step to place the storage box 40 on each layer of the rack 320 at a designated position.

Referring to fig. 4-6, fig. 4 and 5 are schematic structural views of an exemplary delivery device 20. In some embodiments, the bottom of the turnover shelf is provided with an accommodating space, and the whole height of the conveying device does not exceed the height of the accommodating space; the conveying device comprises a self-walking base and a lifting device supported on the self-walking base, the self-walking base enables the conveying device to move to an accommodating space at the bottom of the turnover goods shelf, and the lifting device is used for lifting the turnover goods shelf. Due to the design, the occupied space can be saved, the vertical space utilization rate of the warehouse is improved, and meanwhile, the turnover shelf 10 can be conveyed more stably by the conveying device 20. Specifically, have the gyro wheel from the walking base to can drive turnover goods shelves and remove in the warehouse. The lifting device can be, for example, a pneumatic cylinder or a motor-driven mechanism, and a supporting seat is arranged at the power output end of the pneumatic cylinder or the motor to support the turnover shelf. After the transporting device moves to the accommodating space of the turnover shelf, the lifting device can lift the turnover shelf 10 upwards along the vertical direction, so that the turnover shelf is convenient to transport; the lifting device can lower the turnaround racks 10 downwards in the vertical direction when transport is not required. The number of the conveying devices 20 may be one or more, and each conveying device 20 conveys the corresponding turnaround rack 10 to the corresponding warehouse turnaround node to correspond to the handling device 30 and/or conveys the turnaround rack 10 from the warehouse turnaround node to a specified position. In some embodiments, the handler includes a base on which the Y-stage support is supported. The number of the handling devices 30 may be one or more, for example, the handling devices 30 may be provided at respective fixed points in each warehouse transfer node. In some embodiments, the warehouse circulation node may be a picking area, a loading area, an unloading area, etc. node in the warehouse. Through turnover goods shelves 10 transportation storage tank 40 in batches, transport turnover goods shelves 10 by conveyor 20 again and in order to realize the transportation of a plurality of storage tanks 40, concentrate by handling device 30 again and carry out the uninstallation in batches, realize that the single transports and can unload more storage tanks 40, improve storage uninstallation efficiency.

According to the goods handling system, after the plurality of storage boxes are placed on the turnover shelf, the turnover shelf is conveyed to the warehouse circulation node by the conveying device once, so that batch transfer of the plurality of storage boxes is realized, and the conveying efficiency is greatly improved; in addition, the loading and unloading device located at the warehouse circulation node can unload the storage boxes in a plurality of storage positions to the designated position of the warehouse circulation node once through the telescopic arm, so that the unloading efficiency of goods is improved, manual conveying is not needed, the labor cost is saved, and the problem of personnel safety is effectively avoided. It will be appreciated that in some embodiments, the number of sets of telescopic arms of each layer of support of the handling device is greater than or equal to the number of columns of storage positions of each layer of the turnaround racks, so that the handling device can access the storage boxes of each column of storage positions in a single pick, improving unloading efficiency.

In order to improve the unloading efficiency, in some embodiments, the number of groups of the telescopic arms of the single-layer bracket is not less than the number N of columns of the turnover shelf; x and N are greater than 1, Y and Q are greater than 1. Wherein, X can be 2, 3, 4, 5 etc. through multilayer multiseriate design, can make turnover goods shelves load more storage tanks once, ensure the stability in the removal simultaneously, avoid empting. Likewise, N may be 2, 3, 4, 5, etc., by way of example only. When M is 1, the turnover goods shelf has a row of multi-column storage positions on each storage layer, so that the storage box storage quantity on each storage layer is increased. For example, each storage layer of the 3-layer turnover shelf can be in a 1-row and 2-column arrangement design, namely, one layer has 2 storage positions, each layer can be used for placing 2 storage boxes, and the total number of the storage boxes can be 6. The support of handling device also can be multilayer design, and Y can be more than or equal to X, and Q can be more than or equal to N to ensure that the storage tank on each turnover goods shelves has the loading and unloading position of correspondence and accepts, can also adapt to getting of the turnover goods shelves of the different numbers of piles simultaneously. For example, the loading and unloading device has 3 layers of racks, each layer of racks has 1 row and 2 columns of loading and unloading positions, and each layer of racks has 1 group of telescopic arms, so that 6 storage boxes can be taken out of the turnover shelf at a time. It will be appreciated that to accommodate turnaround racks of different numbers of tiers, the number of telescopic arms is greater than N when Y is greater than X.

In order to further improve the unloading efficiency, in some embodiments, the number of groups of telescopic arms of the single-layer support is not less than the number of columns N of the turnover shelves; x, M and N are each greater than 1, Y and Q are each greater than 1, P is greater than or equal to 1.X, M and N are all larger than 1, namely the storage positions of the turnover shelf are designed in multiple layers, multiple rows and multiple columns, for example, the storage positions of the turnover shelf are designed in 3 layers, 2 rows and 4 columns, and 24 storage boxes are stored in total. In some embodiments, the number of support layers Y of the loading and unloading device is more than or equal to X, and the number of loading and unloading positions in each layer is not less than M × N. Wherein, P is more than or equal to M, and Q is more than or equal to N; or P is more than or equal to N and Q is more than or equal to M. For example, the loading/unloading position of the loading/unloading device may be designed to have 5 layers, 2 rows and 4 columns, or 3 layers, 4 rows and 2 columns. That is, although the number of rows and columns of loading and unloading positions per layer does not correspond to the number of rows and columns of storage positions per layer, the total number of loading and unloading positions per layer is not less than the total number of storage positions per layer as long as the number of sets of telescopic arms of racks per layer is not less than N. When the range number of the two is unequal, can put the angle of putting through adjustment turnover goods shelves, put the storage tank of other ranges to correspond with flexible arm, can realize the transfer of storage tank equally.

It will be appreciated that the number of turnaround shelves 10 may be plural, and that different turnaround shelves 10 may have the same number of storage levels 110 or different number of storage locations 111. Accordingly, the arrangement design of the storage positions 111 of the storage layers 110 of different turnover shelves 10 can be independently designed to respectively load different numbers of storage boxes 40, so as to enrich the storage requirements of different scenes. It will be appreciated that depending on the size of each storage compartment 40, the storage compartment 111 of the corresponding epicyclic shelf 10 may also be sized to accommodate the corresponding size of storage compartment 40.

In some embodiments, the number of rows M of the turnover shelf is larger than 1, and the extension length of the telescopic arm is not smaller than the goods taking length of the storage box on the farthest row of storage positions on the turnover shelf.

In order to facilitate the adjustment of the orientation of the storage containers on the turnaround shelf relative to the telescopic arm, in some embodiments the transport device further comprises a rotation mechanism (not shown) which causes the transport device to adjust the angle of the raised turnaround shelf relative to the handling device, including the adjustment of the row of storage positions of the turnaround shelf remote from the handling device to the closest row. For example, the rotation mechanism may be a rotating frame disposed on a self-walking base, and the lifting device is connected to the rotating frame. When the rotating frame rotates automatically, the lifting device can be driven to rotate synchronously so as to drive the turnover goods shelf to rotate, and the self-walking base does not rotate. Or, rotary mechanism can be from walking base itself, and the gyro wheel of self-walking base passes through the differential rotation to make conveyor take place the body rotation, thereby drive turnover goods shelves in coordination and rotate.

That is, when the turnover shelf 10 includes a plurality of rows and a plurality of columns of the storage spaces 111, the rotation mechanism of the conveyor 20 rotates by driving the lifting device, or the conveyor drives the body to rotate, so as to adjust the placement position of the turnover shelf 10. Wherein, the rotation angle of the rotation mechanism can be 0-360 degrees. Referring to fig. 1, in some embodiments, in order to facilitate the telescopic arm 310 to obtain the storage boxes 40 in different storage positions 111 on the turnover shelf 10, after the front storage box 40 close to the handling device is taken out, the rotation mechanism of the conveying device 20 drives the turnover shelf 10 to rotate 180 °, so that the rear storage box 40 far away from the handling device is adjusted to be close to the handling device 30, thereby facilitating the telescopic arm 310 to obtain the storage box 40 in the rear storage position 111, and achieving the obtaining of the storage boxes 40 in different positions without changing the extending length of the telescopic arm 310.

To facilitate retrieval of the bins 40 from the epicyclic pallet 10 by the telescopic arms 310, in some embodiments, a single layer of the rack is provided with Q sets of telescopic arms that are synchronously telescopic, each set being for retrieving a bin corresponding to a storage position, wherein Q is greater than 1; the set of telescopic arms comprises two oppositely spaced robotic arms, wherein the distance between the two robotic arms matches the dimension of a single bin in the column direction. In a specific embodiment, the storage box 40 is a rectangular parallelepiped structure, the two robotic arms are the fork arms 311, the two fork arms 311 are straight strut structures, and the two fork arms 311 respectively abut against two sides of the storage box 40 to clamp the storage box 40, so as to rapidly obtain the storage box 40. In some embodiments, each layer of the rack 320 is further provided with a slide rail, so that each of the fork arms 311 slides out and retracts along the corresponding slide rail, respectively, for example, after a set of telescopic arms, i.e. two fork arms 311 slide along the slide rails towards the storage box 40 of the revolving rack 10 and clamp the storage box 40, retract along the slide rails into the rack 320, so as to place the storage box 40 in the corresponding loading and unloading position.

Referring to fig. 6, in some embodiments, the end of the yoke is provided with a rotatable pick-up finger, which has a position parallel to or perpendicular to the yoke; in the extending process of the fork arm, the goods taking fingers are in parallel positions; after the fork arm stretches out to get the goods position, get the goods and indicate to rotate to vertical position to the butt storage tank deviates from the rear end face of handling device. That is, prior to accessing the bin 40 of the epicyclic shelf 10, the pick up fingers 312 are in a parallel position so that the yoke 311 projects towards the bin 40; after the goods taking position is reached, the goods taking finger 312 rotates to the vertical position to abut against the back of the storage box 40, the goods taking finger 312 and the fork arms 311 on the two sides form a hook-shaped structure, so that the storage box 40 is hooked to the loading and unloading position of the support when the fork arms 311 are retracted, and the storage box 40 in the storage position 111 is quickly and stably hooked to the loading and unloading position of the support.

It is understood that in other embodiments, the group of telescopic arms for obtaining a storage box corresponding to a storage position comprises a single mechanical arm, the tail end of the mechanical arm can be provided with other goods taking parts, such as a sucker, a hook claw and the like, after the telescopic arm extends to reach the goods taking position, the goods taking parts act on the storage box, and the telescopic arm retracts so as to take out the storage box; it will be appreciated that the access position may be, for example, the front end of the storage compartment facing the loading and unloading device, the rear end facing away from the loading and unloading device, or the side of the storage compartment, the extension of the telescopic arm depending on the access position _。

Referring to fig. 1 and 7, in some embodiments, the cargo handling system further comprises a storage rack 50 and a pick-and-place device (not shown), the storage rack 50 comprising a plurality of storage layers 520, the storage layers 520 being used for storing the storage boxes 40; wherein the pick-and-place device is used for transferring the storage box 40 to the turnover shelf 10. The storage racks 50 may be racks that are installed at predetermined positions in the warehouse for a long period of time, that is, the storage racks 50 are rarely moved, compared to the turnaround racks 10. In order to improve the discharging efficiency, the storage boxes 40 on the same layer or different storage layers can be respectively taken out and transferred to the storage layers 110 of the turnover shelf 10 through the taking and placing device, and then the turnover shelf 10 loaded with the storage boxes 40 is conveniently conveyed to the warehouse circulation node by the conveying device 20. Specifically, the pick-and-place device is a device for taking out the storage box 40 from the storage rack 50 and placing it on the turnaround rack 10. The pick-and-place device may be, for example, a bin handling robot. In some concrete realizations, get put the device and have from the base of walking, elevating system and flexible arm, it is used for driving the device body and removes on ground to go from the base of walking, flexible arm sets up in elevating system's output, elevating system can drive along the vertical direction and get thing mechanism rebound, so that remove flexible arm to the storage layer 520 that corresponds the height, in order to take out to correspond behind the storage tank 40 who deposits position 111, drive flexible arm rebound to certain of turnover goods shelves 10 by elevating system again and deposit layer 110, flexible arm can place storage tank 40 to the storage position 111 that turnover goods shelves 10 correspond.

In order to improve the transfer efficiency, referring to fig. 7, in some embodiments, the storage rack 50 is opened at the bottom with a rack storage space 510, the rack storage space 510 is used for accommodating the turnover rack 10, and the multi-layer storage layer 520 is disposed above the rack storage space 510. Wherein, the height of storage goods shelves 50 is greater than the height of turnover goods shelves 10, through set up goods shelves storage space 510 in the bottom of storage goods shelves 50, one or more turnover goods shelves 10 can be placed to goods shelves storage space 510 for get and put the device and take out and transfer the storage tank 40 that is located the top to turnover goods shelves 10 of below with shorter walking distance. In some embodiments, depending on the size of the shelf storage space 510, the height and width of the turnaround shelves 10 may be increased, thereby increasing the number of layers of the turnaround shelves 10 and the number of rows of storage locations 111 per layer, which in turn increases the number of single-delivery storage boxes 40 and improves the transportation efficiency.

That is, the storage racks 50, the turnover racks 10 and the conveying devices 20 are respectively distributed from top to bottom along the vertical space of the warehouse, so as to improve the utilization rate of the vertical space of the warehouse, and simultaneously, the picking and placing device is convenient to quickly transfer the storage box 40 positioned above to the turnover rack 10 positioned below, and the picking and placing path of the picking and placing device is shortened; then, the transporting device 20 located at the bottom can quickly lift the turnover shelf 10 loaded with the storage box 40, so that the turnover shelf 10 is separated from the ground, thereby facilitating transportation.

The functional structures of the handling device 30 and the pick-and-place device of the conveying device 20 can be realized according to the related art, and are not limited herein.

To facilitate an understanding of the principles of operation of the cargo handling system of the present application, reference is made to the following exemplary descriptions taken in conjunction with fig. 1 through 7.

Taking the revolving rack 10 as an example of a 3-tier 2-row 2-column rack, the total number of storage positions 111 is 12. The turnaround racks 10 are provided in rack storage spaces 510 below the storage racks 50. The pick-and-place device picks up 12 storage boxes 40 from the storage rack 50 and places the storage boxes on the storage positions 111 of the turnover rack 10. The transport device 20 moves to the receiving space 120 under the turnaround rack 10, after lifting the turnaround rack 10 by the lifting device, moves by way of a self-walking base to a warehouse transfer node such as a discharge area. The handling device 30 has 6 layers of supports, and the loading and unloading position of every layer of support is 2 rows 2 and arranges, and every layer of support is provided with 2 flexible arms 310, and the extension length of flexible arm 310 is roughly equal to 1 locker 40's length. After the transfer device 20 transfers the turnover shelf 10 to align with the rack of the handling device 30, the two forks 311 of the telescopic arm 310 of each layer of rack of the handling device 30 horizontally extend at the same time to clamp the nearest front row of storage boxes 40, that is, the 2 telescopic arms 310 of each layer clamp the nearest row of 2 storage boxes 40 together, the picking finger 312 at the end of the fork 311 rotates to form a hook-shaped structure with the fork 311, and the storage box 40 is hooked into the handling position of the rack of the corresponding layer. That is, the handling device 30 is operated once to unload a total of 6 bins 40 of 3 levels from the turnaround racks 10 onto the racks. Next, the conveyor 20 is rotated by 180 °, the rear row of the bins 40 on each level of the transfer rack 10 is rotated to be aligned with the handling device 30, the handling device 30 repeats the above operation, another 6 bins 40 are unloaded from the transfer rack 10 to the level corresponding to the rack, and the transfer of 12 bins 40 is completed by two operations. In another mode, after the loading and unloading device 30 has once operated to obtain 6 storage boxes 40 in the front row of the turnover shelf 10, the extension length of the telescopic arm 310 of each layer of support is increased, so that the goods-taking finger 312 hooks the 6 storage boxes in the rear row of the turnover shelf 10 and then takes back the 6 storage boxes. In another mode, the retractable arm 310 is extended to the position where the pick finger 312 catches on 6 containers in the rear row of the turnover shelf 10 when picking up goods for the first time, so that the handling device 30 can take out 12 containers 40 in the front and rear rows from the turnover shelf 10 at the same time only by one operation. Then, the loading and unloading device 30 can unload the 12 storage boxes 40 on the rack to the conveyor belt, and then the conveyor belt can convey the storage boxes 40 to the corresponding positions. Accordingly, after the storage box 40 on the turnover shelf 10 is unloaded, the conveyor 20 can convey the empty turnover shelf 10 back to the shelf storage space 510 or other designated location under the storage shelf 50, and by repeating the above operations, the unloading efficiency of the storage box 40 can be improved, and the labor cost can be saved.

An embodiment of the present application further provides a sorting system, which includes the cargo handling system described above, wherein the warehouse transfer node is a sorting workstation for sorting the storage boxes. The utility model provides a letter sorting system, the conveyor single transports a plurality of storage tanks to letter sorting workstation through turnover goods shelves, the handling device that is located letter sorting workstation corresponds with turnover goods shelves, the flexible arm of each layer support takes out the storage tank of turnover goods shelves to the loading and unloading position that corresponds in step, resynchronization or distribution place the storage tank of every layer of support to the conveyer belt, so that each storage tank conveys to selecting the position and selects, the efficiency of selecting has been improved greatly, shorten latency, and practice thrift the human cost.

The aspects of the present application have been described in detail hereinabove with reference to the accompanying drawings. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. Those skilled in the art should also appreciate that the acts and modules referred to in the specification are not necessarily required for the application. In addition, it can be understood that the steps in the method of the embodiment of the present application may be sequentially adjusted, combined, and deleted according to actual needs, and the modules in the device of the embodiment of the present application may be combined, divided, and deleted according to actual needs.

The foregoing description of the embodiments of the present application has been presented for purposes of illustration and description and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (12)

1. A cargo handling system, comprising:

the turnover shelf is provided with a plurality of storage positions, and the storage positions are used for storing the storage boxes;

a transport device for transporting the turnaround racks;

the loading and unloading device is arranged at the warehouse transfer node; wherein:

the turnover shelf comprises X layers of storage layers, wherein the single storage layer is provided with storage positions distributed in M rows and N columns, X, M and N are natural numbers, and at least two of the X, M and N are greater than 1;

the loading and unloading device comprises Y layers of supports, a single layer of the supports is provided with P rows of loading and unloading positions distributed in Q rows, and the single layer of the supports is provided with telescopic arms used for taking goods from the turnover racks; wherein the direction of the rows is parallel to the pick-up direction of the telescopic arms and the direction of the columns is perpendicular to the direction of the rows and the layers; y, P and Q are natural numbers, and at least two of the natural numbers are more than 1; the conveying device conveys the turnover goods shelf to the warehouse turnover node, and the loading and unloading device simultaneously takes the storage boxes in at least two corresponding storage positions of the turnover goods shelf back to the corresponding loading and unloading positions through at least two groups of telescopic arms.

2. The cargo handling system of claim 1, wherein:

the number of groups of the telescopic arms of the single-layer bracket is not less than the number N of columns of the turnover shelf; x and N are greater than 1, Y and Q are greater than 1; alternatively, X, M, and N are each greater than 1, Y and Q are each greater than 1, P is greater than or equal to 1.

3. The cargo handling system of claim 1, wherein:

an accommodating space is formed at the bottom of the turnover goods shelf, and the overall height of the conveying device does not exceed the height of the accommodating space;

the conveying device comprises a self-walking base and a lifting device supported on the self-walking base, the self-walking base enables the conveying device to move to the accommodating space automatically, and the lifting device is used for lifting the turnover goods shelf.

4. The cargo handling system of claim 1, wherein:

the row number M of the turnover goods shelves is larger than 1, and the extension length of the telescopic arm is not smaller than the goods taking length of the storage boxes in the farthest row of storage positions on the turnover goods shelves.

5. The cargo handling system of claim 1, wherein:

the single-layer support is provided with Q groups of telescopic arms which are synchronously telescopic, each group of telescopic arms is used for obtaining a storage box corresponding to the storage position, and Q is larger than 1;

the group of telescopic arms comprises two mechanical arms which are oppositely arranged at intervals, wherein the interval distance between the two mechanical arms is matched with the size of the single storage box in the column direction; or, a group of telescopic arms comprises a mechanical arm, and the tail end of the mechanical arm is provided with a goods taking part used for acting on the storage box.

6. The cargo handling system of claim 5, wherein:

the mechanical arm is a fork arm, the tail end of the fork arm is provided with a rotatable goods taking finger, and the goods taking finger is parallel to or vertical to the fork arm; in the process that the fork arms extend out, the goods taking fingers are in parallel positions; after the fork arm stretches out to get the goods position, get the goods and indicate to rotate to vertical position, with the butt the storage tank deviates from handling device's rear end face.

7. The cargo handling system of claim 1, wherein:

the conveying device comprises a rotating mechanism, and the rotating mechanism enables the conveying device to adjust the arrangement angle of the lifted turnover shelf relative to the loading and unloading device, and comprises a step of adjusting a row of storage positions of the turnover shelf far away from the loading and unloading device to be the nearest row.

8. The cargo handling system of claim 1, wherein:

the goods handling system also comprises a storage shelf and a taking and placing device, wherein the storage shelf comprises a plurality of storage layers, and the storage layers are used for storing the storage boxes; wherein the pick-and-place device is used for transferring the storage box to the turnover shelf.

9. The cargo handling system of claim 8, wherein:

a goods shelf storage space is formed in the bottom of the storage goods shelf and used for accommodating the turnover goods shelf; the multilayer storage layer is arranged above the storage space of the shelf.

10. A sorting system comprising a cargo handling system according to any of claims 1 to 9, wherein the warehouse transfer node is a sorting workstation for sorting storage bins.

11. A handling device, comprising:

a base;

the Y-layer support is supported on the base, a single layer of support is provided with P rows of Q loading and unloading positions distributed, and the single layer of support is provided with Q groups of telescopic arms used for taking Q storage boxes arranged along the row direction to the corresponding loading and unloading positions simultaneously; wherein the direction of the rows is parallel to the pick-up direction of the telescopic arms and the direction of the columns is perpendicular to the direction of the rows and the layers; y, P and Q are natural numbers, and Q is more than 1.

12. Handling device according to claim 11,

the maximum extension length of the telescopic arm is configured such that the telescopic arm can sequentially or simultaneously access a plurality of storage boxes arranged in the row direction.

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